Multi-Objective optimal design of a cable driven parallel robot for rehabilitation tasks

Purpose This paper aims to present the optimal design procedure of a symmetrical 2-DOF parallel planar robot with flexible joints by considering several performance criteria based on the workspace size, dynamic dexterity and energy of the control. Design/methodology/approach Consequently, the optimal design consists in determining the dimensional parameters to maximize the size of the workspace, maximize the dynamic dexterity and minimize the energy of the control action. The design criteria are derived from the kinematics, dynamics, elastodynamics and the position control law of the robot. The analysis of the design criteria is performed by means of the design space and atlases. Findings Finally, the multi-objective design optimization derived from the optimal design procedure is solved by using multi-objective genetic algorithms, and the results are analyzed to assess the validity of the proposed approach. Originality/value An alternative approach to the design of a planar parallel robot with flexible joints that permits determining the structural parameters by considering kinematic, dynamic and control operational performance.

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Analysis and multi-objective optimal design of a planar differentially driven cable parallel robot

Robotica ◽

10.1017/s0263574721000266 ◽

2021 ◽

pp. 1-17

Author(s):

Ruobing Wang ◽

Yangmin Li

Keyword(s):

Optimal Design ◽

Parallel Robot ◽

Complex Model ◽

Design Parameters ◽

Performance Indices ◽

Multi Objective

Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new cable-and-pulley differential is designed by adding an extra pulley to eliminate the modeling inaccuracies due to the pulley radius and obviate the need of solving the complex model which considers the pulley kinematics. The design parameters of the proposed CPR are determined through multi-objective optimal design for the largest total orientation wrench closure workspace (TOWCW) and the highest global stiffness magnitude index. The proposed differentially driven CPR is evaluated by comparing various performance indices with a fully actuated CPR.

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On the Optimal Design of Cable Driven Parallel Robot with a Prescribed Workspace for Upper Limb Rehabilitation Tasks

Journal of Bionic Engineering ◽

10.1007/s42235-019-0041-4 ◽

2019 ◽

Vol 16 (3) ◽

pp. 503-513 ◽

Cited By ~ 6

Author(s):

Med Amine Laribi ◽

Giuseppe Carbone ◽

Saïd Zeghloul

Keyword(s):

Optimal Design ◽

Upper Limb ◽

Parallel Robot ◽

Upper Limb Rehabilitation ◽

Limb Rehabilitation ◽

Rehabilitation Tasks

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Thermoelastic analysis and multi-objective optimal design of functionally graded flywheels for energy storage systems

Engineering Optimization ◽

10.1080/0305215x.2019.1674296 ◽

2019 ◽

Vol 52 (10) ◽

pp. 1682-1699 ◽

Cited By ~ 1

Author(s):

Alper Uyar ◽

Aytac Arikoglu ◽

Guven Komurgoz ◽

Ibrahim Ozkol

Keyword(s):

Energy Storage ◽

Optimal Design ◽

Storage Systems ◽

Functionally Graded ◽

Energy Storage Systems ◽

Thermoelastic Analysis ◽

Multi Objective

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A Multi-Objective Approach toward Optimal Design of Sustainable Integrated Biodiesel/Diesel Supply Chain Based on First- and Second-Generation Feedstock with Solid Waste Use

Energies ◽

10.3390/en14082261 ◽

2021 ◽

Vol 14 (8) ◽

pp. 2261

Author(s):

Evgeniy Ganev ◽

Boyan Ivanov ◽

Natasha Vaklieva-Bancheva ◽

Elisaveta Kirilova ◽

Yunzile Dzhelil

Keyword(s):

Supply Chain ◽

Optimal Design ◽

Solid Waste ◽

Second Generation ◽

Agricultural Land ◽

Optimization Problems ◽

Biodiesel Production ◽

Mixed Integer ◽

Economic Criterion ◽

Multi Objective

This study proposes a multi-objective approach for the optimal design of a sustainable Integrated Biodiesel/Diesel Supply Chain (IBDSC) based on first- (sunflower and rapeseed) and second-generation (waste cooking oil and animal fat) feedstocks with solid waste use. It includes mixed-integer linear programming (MILP) models of the economic, environmental and social impact of IBDSC, and respective criteria defined in terms of costs. The purpose is to obtain the optimal number, sizes and locations of bio-refineries and solid waste plants; the areas and amounts of feedstocks needed for biodiesel production; and the transportation mode. The approach is applied on a real case study in which the territory of Bulgaria with its 27 districts is considered. Optimization problems are formulated for a 5-year period using either environmental or economic criteria and the remainder are defined as constraints. The obtained results show that in the case of the economic criterion, 14% of the agricultural land should be used for sunflower and 2% for rapeseed cultivation, while for the environmental case, 12% should be used for rapeseed and 3% for sunflower. In this case, the price of biodiesel is 14% higher, and the generated pollutants are 6.6% lower. The optimal transport for both cases is rail.

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